docs/simulation/robot.rst

Robot
=====

The ``Robot`` class defines a simulation object encapsulating a robot model, gripper model, base model, and controller. Robosuite uses class extensions of this base class to model different robotic domains. The current release focuses on manipulation and mobility, and includes a ``MobileRobot`` class, which itself is extended by ``WheeledRobot`` and ``LeggedRobot`` classes representing different types of mobile robots.

Base Robot
----------
.. autoclass:: robosuite.robots.robot.Robot

  .. automethod:: _load_controller
  .. automethod:: _postprocess_part_controller_config
  .. automethod:: load_model
  .. automethod:: reset_sim
  .. automethod:: reset
  .. automethod:: setup_references
  .. automethod:: setup_observables
  .. automethod:: _create_arm_sensors
  .. automethod:: _create_base_sensors
  .. automethod:: control
  .. automethod:: check_q_limits
  .. autoproperty:: is_mobile
  .. autoproperty:: action_limits
  .. automethod:: _input2dict
  .. autoproperty:: torque_limits
  .. autoproperty:: action_dim
  .. autoproperty:: dof
  .. automethod:: pose_in_base_from_name
  .. automethod:: set_robot_joint_positions
  .. autoproperty:: js_energy
  .. autoproperty:: _joint_positions
  .. autoproperty:: _joint_velocities
  .. autoproperty:: joint_indexes
  .. autoproperty:: arm_joint_indexes
  .. automethod:: get_sensor_measurement
  .. automethod:: visualize
  .. automethod:: _visualize_grippers
  .. autoproperty:: action_limits
  .. autoproperty:: is_mobile
  .. autoproperty:: ee_ft_integral
  .. autoproperty:: ee_force
  .. autoproperty:: ee_torque
  .. autoproperty:: _hand_pose
  .. autoproperty:: _hand_quat
  .. autoproperty:: _hand_total_velocity
  .. autoproperty:: _hand_pos
  .. autoproperty:: _hand_orn
  .. autoproperty:: _hand_vel
  .. autoproperty:: _hand_ang_vel
  .. automethod:: _load_arm_controllers
  .. automethod:: enable_parts
  .. automethod:: enabled
  .. automethod:: create_action_vector
  .. automethod:: print_action_info
  .. automethod:: print_action_info_dict
  .. automethod:: get_gripper_name
  .. automethod:: has_part
  .. autoproperty:: _joint_split_idx
  .. autoproperty:: part_controllers


Fixed Base Robot
----------------
Tabletop manipulators.

.. autoclass:: robosuite.robots.fixed_base_robot.FixedBaseRobot
Mobile Base Robot
-----------------

``WheeledRobot`` and ``LeggedRobot`` are two types of mobile base robots supported in robosuite.

.. autoclass:: robosuite.robots.mobile_base_robot.MobileBaseRobot

  .. automethod:: _load_controller
  .. automethod:: load_model
  .. automethod:: reset
  .. automethod:: setup_references
  .. automethod:: control
  .. automethod:: setup_observables
  .. autoproperty:: action_limits
  .. autoproperty:: is_mobile
  .. autoproperty:: _action_split_indexes

Mobile robot
-------------
Base class for wheeled and legged robots.

.. autoclass:: robosuite.robots.mobile_robot.MobileRobot

  .. automethod:: _load_controller
  .. automethod:: _load_base_controller
  .. automethod:: _load_torso_controller
  .. automethod:: _load_head_controller
  .. automethod:: load_model
  .. automethod:: reset
  .. automethod:: setup_references
  .. automethod:: control
  .. automethod:: setup_observables
  .. automethod:: _create_base_sensors
  .. automethod:: enable_parts
  .. autoproperty:: is_mobile
  .. autoproperty:: base
  .. autoproperty:: torso
  .. autoproperty:: head
  .. autoproperty:: legs
  .. autoproperty:: _action_split_indexes

Wheeled Robot
-------------
Mobile robots with wheeled bases.

.. autoclass:: robosuite.robots.wheeled_robot.WheeledRobot

  .. automethod:: _load_controller
  .. automethod:: load_model
  .. automethod:: reset
  .. automethod:: setup_references
  .. automethod:: control
  .. automethod:: setup_observables
  .. autoproperty:: action_limits


Legged Robot
------------
Robots with legs.

.. autoclass:: robosuite.robots.legged_robot.LeggedRobot

  .. automethod:: _load_leg_controllers
  .. automethod:: _load_controller
  .. automethod:: load_model
  .. automethod:: reset
  .. automethod:: setup_references
  .. automethod:: control
  .. automethod:: setup_observables
  .. autoproperty:: action_limits
  .. autoproperty:: is_legs_actuated
  .. autoproperty:: num_leg_joints